Željko Despotović, Aleksandar Ribić, Mihajlo Pupin Institute, Belgrade, Serbia
15th INTERNATIONAL SYMPOSIUM on POWER ELECTRONICS - Ee 2009
NOVI SAD, REPUBLIC of SERBIA, October 28 - 30th, 2009
LOW FREQUENCY IGBT CONVERTER FOR CONTROL EXCITING FORCE OF
ELECTROMAGNETIC VIBRATORY CONVEYORS
VVIBRATORY CONVEYINGIBRATORY CONVEYING
Vibratory cVibratory cconveying process is conveying process is based on a sequential throw based on a sequential throw movement of particlesmovement of particles
The vibratory conveyors are widely The vibratory conveyors are widely used device in various technological used device in various technological processes for transporting and processes for transporting and finishing materialsfinishing materials
Vibrations of tank, i.e. of a Vibrations of tank, i.e. of a “load-“load-carrying element”carrying element” (LCE), in which (LCE), in which the material is placed, induces the the material is placed, induces the movement of material particles, so movement of material particles, so that they resemble to a highly that they resemble to a highly viscous liquid and the material viscous liquid and the material becomes easier for conveyingbecomes easier for conveying
VIBRATORY CONVEYING ALONG THE VIBRATORY CONVEYING ALONG THE HORIZONTAL SURFACE HORIZONTAL SURFACE
VIBRATORY CONVEYING ALONG THE SLOPED VIBRATORY CONVEYING ALONG THE SLOPED DOWN SURFACEDOWN SURFACE
VIBRATORY CONVEYING ALONG THE SPIRAL ELEVATORVIBRATORY CONVEYING ALONG THE SPIRAL ELEVATOR
VIBRATORY DOSING;CHARGING and (or) DISCHARGING VIBRATORY DOSING;CHARGING and (or) DISCHARGING
VVIBRATORY DRIVEIBRATORY DRIVE
MEMECCHANIHANICALCAL--with eccentrewith eccentre-centrifugal-centrifugallyly-iner-inertionaltional
ELEELECTRICALCTRICAL-rota-rotationaltional→→ electr. motionelectr. motion--linearlinear→→eleelectromagnetic drivectromagnetic drive
VIBRATORY DRIVE WITH VIBRATORY DRIVE WITH ECCENTREECCENTRE
CCENTRIFUGALLY VIBRATORY ENTRIFUGALLY VIBRATORY CONVEYING DRIVECONVEYING DRIVE
(a)- eccentric drive with one mass , (b)- eccentric drive with two masses
Electromagnetic Vibratory Electromagnetic Vibratory Conveyor with Fixing InductorConveyor with Fixing Inductor
Electromagnetic Vibratory Conveyor with Fixing Electromagnetic Vibratory Conveyor with Fixing Inductor and Directional Exciting ForceInductor and Directional Exciting Force
1-LCE
2-flexible elements
3-base
4-rubber pads
5-magnetic core
6-winding coil
7-armature
8-vibratory trough
9-inductive sensor
10-storage hopper
11-movable shutter
Analytical Model of Electromagnetic Analytical Model of Electromagnetic Vibratory ConveyorVibratory Conveyor
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Lagragian of system
Lagrange equation of motion
THE SIMPLIFICATION of ANALYTICAL MODEL
mb >> mk
Frequency Characteristics of Vibratory Conveying System(Vibratory Conveyor)
REALITY
EVA EVA like as a Generator of Forcelike as a Generator of Force
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(a)-mechanical model, (b)-magnetic circuit,(c)-equivalent electrical circuit
Electro Magnetic Force (EMF)
mechanical equation
electrical equation
static characteristic
Traditional Solution Controlling of Traditional Solution Controlling of Vibratory ConveyingVibratory Conveying
(a)-potentiometer
(b)-auto transformer
(c)-variable inductivity
(d)-magnetic amplifier
These ways of control are coarse and related to large energy losses, consequently this significant affect to rise of cost and increase dimension of regulation equipment
•The important overcome disadvantage of traditional ways of control is effectuated of development
semiconductor power converters
•Application of electromagnetic vibratory drive in combination with the power converters provides
flexibility during work
•Consequently, it is possible adjustment amplitude and (or) frequency of EVA coil current, i.e. adjustment intensity and frequency of exciting force applied on
conveying device, i.e. ADJUSTMENT AMPLITUDE and (or) FREQUENCU of MECHANICAL
OSCILLATIONS
Power Converters with Phase Angle Control (PAC)Power Converters with Phase Angle Control (PAC)
SCR power converters; (a)-unidirectional, (b)- bidirectional
AMPLITUDE FREQUENCY
Switching Switching PowerPower ConvertersConverters in in VibratoryVibratory ConveyingConveying
Controlling of Controlling of EVA EVA current current it is possible it is possible adjustment electromagnetic exciting forceadjustment electromagnetic exciting force applied applied on vibratory trough of conveyoron vibratory trough of conveyorFrom electrical standpoint, the From electrical standpoint, the EVAEVA is is mostly mostly inductiveinductive load by its nature, so that adjusting the load by its nature, so that adjusting the current of EVA is possible by:current of EVA is possible by:
--PWM voltage or current-mode control PWM voltage or current-mode control --ZVS or ZCS resonant controlZVS or ZCS resonant control
Triangle and sinusoidal half-wave of EVATriangle and sinusoidal half-wave of EVA current current
In this way it is provided amplitude In this way it is provided amplitude and (or)and (or)frequency frequency control of vibratory conveyingcontrol of vibratory conveying
Control of Sine Half-Wave Control of Sine Half-Wave of EVA of EVA CurrentCurrent
The waveform of electromagnetic driving force(a)-graphical harmonics representation, (b)-analytical representation
The Fourier spectrums at triangle drive current
(a)- driving (exciting) force(b)-displacement
Control of Triangle Half-Wave Control of Triangle Half-Wave of EVA of EVA CurrentCurrent
The waveform of electromagnetic driving force
(a)-graphical harmonics representation, (b)-analytical representation
The Fourier spectrums at
triangle drive current
(a)- driving (exciting) force(b)-displacement
Current-Mode Control in Vibratory Conveying-Current-Mode Control in Vibratory Conveying-generatinggenerating triangletriangle wave shape of EVA current wave shape of EVA current
Control circuit to provide adjusting triangle wave shape of EVA current;
(a)-principal scheme, (b)-characteristic waveforms
The influence reference value of peak current on the output displacement of LCE(a)-wave shape of output displacement and EVA current, (b)-detailed presentation of
interval I, (c)-detailed presentation of interval II
The Control Scheme of Resonant Electromagnetic Vibratory Conveyor
The Slides of The Slides of Implemented Implemented
PrototypePrototype
IMPLEMENTED PROTOTYPE of VCD
Mounting of acceleration sensor Mounting of displacement sensor
Electromagnetic Vibratory Actuator-EVA Vibratory trough-top view
IMPLEMENTED PROTOTYPE of POWER CONVERTER
Power Converter
PLL circuit
Acceleration Transmitter
EXPERIMENTAL RESULTSEXPERIMENTAL RESULTS
AMPLITUDE CONTROL
-sinusoidal drive EVA
-triangle drive EVA
(a)- VW=6mm(b)-VW=0.5mm
(a)- VW=6mm(b)-VW=0.5mm
Oscilloscopic Records of Characteristic Waveforms for VCD with Transistor Control
Voltage and current of EVA (a)- triangle drive (b)-sinusoidal drive
THE VIBRATORY DRIVE MOVIESTHE VIBRATORY DRIVE MOVIES
AMPLITUDE CONTROLAMPLITUDE CONTROL
FREFREQUENCY CONTROLQUENCY CONTROL
CURRENT 1A/cDISPLACEMENT 0,5mm/cTime 5 ms/c
AMPLITUDE CONTROL
FREQUENCY CONTROL
Time 5 ms/c CURRENT 1A/cDISPLACEMENT 0,5mm/c
AMPLITUDE –FREQUENCY CONTROL
PARTICLE TRAJECTORY
CONCLUSIONS CONCLUSIONS
•The most significant contribution of this research is The most significant contribution of this research is development optimal control of electromagnetic development optimal control of electromagnetic resonant vibratory conveyors and increase of theirs resonant vibratory conveyors and increase of theirs energy efficiencyenergy efficiency
•This is reached compensation of overall influences This is reached compensation of overall influences which relate to the violation of required resonant which relate to the violation of required resonant regime and changing resonant frequencyregime and changing resonant frequency
•The most dominated influences are:The most dominated influences are:-changing of conveying material mass-changing of conveying material mass-changing stiffness of flexible element-changing stiffness of flexible element-variation of mains voltage supply-variation of mains voltage supply
☺☺freedom to operate a VCD with any natural (resonant) frequency from 5 freedom to operate a VCD with any natural (resonant) frequency from 5 Hz to 150 Hz →frequency control Hz to 150 Hz →frequency control ☺☺the controller will continually search for the natural frequency of the the controller will continually search for the natural frequency of the vibratory conveyor (resonance) and excite it at that frequency (active vibratory conveyor (resonance) and excite it at that frequency (active tuning); in the located natural (resonant) frequency, it is possible to tune tuning); in the located natural (resonant) frequency, it is possible to tune amplitude and time duration of the EVA coil current i.e. amplitude amplitude and time duration of the EVA coil current i.e. amplitude oscillations of the LCE →amplitude control oscillations of the LCE →amplitude control ☺☺flexible automation with minimum change-over time because electronics flexible automation with minimum change-over time because electronics replace the comprehensive and the complicated calibrations and mechanical replace the comprehensive and the complicated calibrations and mechanical settingssettings☺☺many conveyors can be placed on the same electrical circuit without fear many conveyors can be placed on the same electrical circuit without fear of circuit overloadof circuit overload☺☺VCD can operate nondependent on mains frequency (50Hz-Europe or VCD can operate nondependent on mains frequency (50Hz-Europe or 60Hz-North America) without changing the conveyor springs or balancing 60Hz-North America) without changing the conveyor springs or balancing massesmasses☺☺energyenergy efficiency: efficiency:
minimum EVA coil currentminimum EVA coil currentminimum EVA coil heatingminimum EVA coil heatingminimum supply currentminimum supply currentminimum power consumptionminimum power consumption
HIGH PERFORMANCE OF VIBRATORY DRIVE
The idea for development proposed The idea for development proposed transistor switching converter is proceed transistor switching converter is proceed from lasting experience obtained on from lasting experience obtained on development and realisation SCR development and realisation SCR converters for drive vibratory conveyors in converters for drive vibratory conveyors in cement industrycement industry
At the ENDAt the END
THANK YOU IN THANK YOU IN ATTENTIONATTENTION!!!!!!!!
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